/*
 * Copyright (c) 2011-2025, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/main/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/Group.hpp>
#include <dart/dynamics/Skeleton.hpp>

#include <dart/common/Deprecated.hpp>

#include <gtest/gtest.h>

using namespace dart::dynamics;

//==============================================================================
TEST(SkeletonAccessors, ReturnsMutableBodyNodeVector)
{
  auto skeleton = Skeleton::create("skeleton");
  auto pair = skeleton->createJointAndBodyNodePair<FreeJoint>();
  auto* body = pair.second;

  DART_SUPPRESS_DEPRECATED_BEGIN
  auto& nodes = skeleton->getBodyNodes();
  DART_SUPPRESS_DEPRECATED_END
  ASSERT_EQ(nodes.size(), 1u);
  EXPECT_EQ(nodes.front(), body);
}

//==============================================================================
TEST(ReferentialSkeletonAccessors, ReturnsMutableBodyNodeVector)
{
  auto skeleton = Skeleton::create("skeleton");
  auto pair = skeleton->createJointAndBodyNodePair<FreeJoint>();

  auto group = Group::create("group");
  ASSERT_TRUE(group->addComponent(pair.second));

  DART_SUPPRESS_DEPRECATED_BEGIN
  auto& nodes = group->getBodyNodes();
  DART_SUPPRESS_DEPRECATED_END
  ASSERT_EQ(nodes.size(), 1u);
  EXPECT_EQ(nodes.front(), pair.second);
}
